TY  - BOOK
AU  - Mellodge,Patricia
AU  - Kachroo,Pushkin
ED  - SpringerLink (Online service)
TI  - Model Abstraction in Dynamical Systems: Application to Mobile Robot Control
T2  - Lecture Notes in Control and Information Sciences,
SN  - 9783540707998
PY  - 2008///
CY  - Berlin, Heidelberg
PB  - Springer Berlin Heidelberg
KW  - Engineering
KW  - Artificial intelligence
KW  - Systems theory
KW  - Vibration
KW  - Control Engineering
KW  - Automation and Robotics
KW  - Vibration, Dynamical Systems, Control
KW  - Artificial Intelligence (incl. Robotics)
KW  - Systems Theory, Control
N1  - Mathematical Preliminaries -- Kinematic Modeling and Control -- Vision Based Modeling and Control -- Abstraction -- Control Design -- Open-Loop Control Design -- Uncertainty Propagation in Abstracted Systems -- Conclusion
N2  - The subject of this book is model abstraction of dynamical systems. The p- mary goal of the work embodied in this book is to design a controller for the mobile robotic car using abstraction. Abstraction provides a means to rep- sent the dynamics of a system using a simpler model while retaining important characteristics of the original system. A second goal of this work is to study the propagation of uncertain initial conditions in the framework of abstraction. The summation of this work is presented in this book. It includes the following: • An overview of the history and current research in mobile robotic control design. • A mathematical review that provides the tools used in this research area. • The development of the robotic car model and both controllers used in the new control design. • A review of abstraction and an extension of these ideas into new system relationship characterizations called traceability and -traceability. • A framework for designing controllers based on abstraction. • An open-loop control design with simulation results. • An investigation of system abstraction with uncertain initial conditions
UR  - http://dx.doi.org/10.1007/978-3-540-70799-8
ER  -